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carla
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Merge branch 'xisco' of https://bitbucket.org/carla-cvc/carla-ue4-plugin into xisco

This commit is contained in:
Xisco Bosch 2017-03-22 11:41:51 +01:00
parent f0c16a4289 8a769bf60a
commit 1c5b600be7
13 changed files with 200 additions and 55 deletions
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4
Carla.uplugin
View File

@ -10,9 +10,9 @@
"DocsURL": "",
"MarketplaceURL": "",
"SupportURL": "",
"CanContainContent": true,
"CanContainContent": false,
"IsBetaVersion": true,
"Installed": false,
"Installed": true,
"Modules": [
{
"Name": "Carla",

101
Source/Carla/Carla.Build.cs
View File

@ -7,27 +7,18 @@ public class Carla : ModuleRules
{
public Carla(TargetInfo Target)
{
string CarlaServerIncludePath = "CarlaServer/include";
string CarlaServerLibPath = "CarlaServer/lib";
PublicIncludePaths.AddRange(
new string[] {
"Carla/Public",
CarlaServerIncludePath
// ... add public include paths required here ...
}
);
PrivateIncludePaths.AddRange(
new string[] {
"Carla/Private",
CarlaServerIncludePath
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{
@ -36,7 +27,6 @@ public class Carla : ModuleRules
}
);
PrivateDependencyModuleNames.AddRange(
new string[]
{
@ -49,7 +39,6 @@ public class Carla : ModuleRules
}
);
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
@ -57,14 +46,90 @@ public class Carla : ModuleRules
}
);
PublicAdditionalLibraries.AddRange(
new string[]
AddBoostDependency(Target);
AddProtobufDependency(Target);
AddCarlaServerDependency(Target);
if (Target.Platform == UnrealTargetPlatform.Linux)
{
// Fails to link the std libraries.
PublicAdditionalLibraries.Add("stdc++");
}
}
private bool IsWindows(TargetInfo Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
private void AddBoostDependency(TargetInfo Target)
{
if (IsWindows(Target))
{
string BoostRoot = System.Environment.GetEnvironmentVariable("BOOST_ROOT");
if (string.IsNullOrEmpty(BoostRoot) || !System.IO.Directory.Exists(BoostRoot))
{
Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "libcarla_server.a"),
"boost_system",
"protobuf"
// ... add any modules that your module loads dynamically here ...
throw new System.Exception("BOOST_ROOT is not defined, or points to a non-existant directory, please set this environment variable.");
}
);
PrivateIncludePaths.Add(BoostRoot);
string BoostLib = Path.Combine(BoostRoot, "stage", "lib");
if (!System.IO.Directory.Exists(BoostLib))
{
throw new System.Exception("Please build boost and make sure the libraries are at " + BoostLib + ". ");
}
bool found = System.IO.Directory.GetFiles(BoostLib, "libboost_system-*.lib").Length > 0;
if (!found)
{
throw new System.Exception("Not finding libboost_system-*.lib in " + BoostLib + ".");
}
PublicLibraryPaths.Add(Path.Combine(BoostLib));
}
else
{
PublicAdditionalLibraries.Add("boost_system");
}
}
private void AddProtobufDependency(TargetInfo Target)
{
if (IsWindows(Target))
{
string ProtobufRoot = System.Environment.GetEnvironmentVariable("PROTOBUF_ROOT");
if (string.IsNullOrEmpty(ProtobufRoot) || !System.IO.Directory.Exists(ProtobufRoot))
{
throw new System.Exception("PROTOBUF_ROOT is not defined, or points to a non-existant directory, please set this environment variable.");
}
PrivateIncludePaths.Add(Path.Combine(ProtobufRoot, "include"));
PublicAdditionalLibraries.Add(Path.Combine(ProtobufRoot, "lib", "libprotobuf.lib"));
}
else
{
PublicAdditionalLibraries.Add("protobuf");
}
}
public void AddCarlaServerDependency(TargetInfo Target)
{
string CarlaServerIncludePath;
string CarlaServerLibPath;
string CarlaServerLib;
if (IsWindows(Target))
{
CarlaServerIncludePath = "CarlaServer/include";
CarlaServerLibPath = "CarlaServer/lib/Release";
CarlaServerLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "carla_server.lib");
}
else
{
CarlaServerIncludePath = "CarlaServer/include";
CarlaServerLibPath = "CarlaServer/lib";
CarlaServerLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "libcarla_server.a");
}
PublicIncludePaths.Add(CarlaServerIncludePath);
PrivateIncludePaths.Add(CarlaServerIncludePath);
PublicAdditionalLibraries.Add(CarlaServerLib);
}
}

34
Source/Carla/Game/CarlaGameController.cpp
View File

@ -96,7 +96,6 @@ static void SendReward(
Set(reward.player_location, PlayerState.GetLocation());
Set(reward.player_orientation, PlayerState.GetOrientation());
Set(reward.player_acceleration, PlayerState.GetAcceleration());
// Set(reward.player_acceleration, );
Set(reward.forward_speed, PlayerState.GetForwardSpeed());
Set(reward.collision_car, PlayerState.GetCollisionIntensityCars());
Set(reward.collision_pedestrian, PlayerState.GetCollisionIntensityPedestrians());
@ -108,7 +107,7 @@ static void SendReward(
reward.image_height = Cameras[0u]->GetImageSizeY();
}
Set(reward.image_rgb_0, Cameras[0u]);
Set(reward.image_rgb_1, Cameras[1u]);
// Set(reward.image_rgb_1, Cameras[1u]);
// Set(reward.image_depth_0, );
// Set(reward.image_depth_1, );
UE_LOG(LogCarla, Log, TEXT("Send reward"));
@ -129,6 +128,18 @@ static void ReadControl(carla::CarlaServer &Server, ACarlaVehicleController &Pla
}
}
static void SetActorTransform(
ACarlaVehicleController &Player,
const TArray<FTransform> &AvailableStartTransforms,
uint32 Index)
{
if (Index >= AvailableStartTransforms.Num()) {
Index = 0u;
}
check(AvailableStartTransforms.Num() > 0);
Player.SetActorTransform(AvailableStartTransforms[Index]);
}
// =============================================================================
// -- CarlaGameController ------------------------------------------------------
// =============================================================================
@ -136,11 +147,7 @@ static void ReadControl(carla::CarlaServer &Server, ACarlaVehicleController &Pla
CarlaGameController::CarlaGameController() :
Server(MakeUnique<carla::CarlaServer>(2001u, 2002u, 2000u)),
Player(nullptr),
Cameras({{nullptr}})
{
UE_LOG(LogCarla, Log, TEXT("Initializing CarlaServer"));
Server->init(1u);
}
Cameras({{nullptr}}) {}
APlayerStart *CarlaGameController::ChoosePlayerStart(
const TArray<APlayerStart *> &AvailableStartSpots)
@ -179,20 +186,27 @@ void CarlaGameController::RegisterCaptureCamera(const ASceneCaptureCamera &Captu
void CarlaGameController::Tick(float DeltaSeconds)
{
check(Player != nullptr);
if (!Server->clientConnected() || !Server->serverConnected() || !Server->worldConnected())
return;
uint32 StartIndex;
if (bIsResetting) {
if (bIsResetting || Server->needRestart()) {
UE_LOG(LogCarla, Log, TEXT("Initializing CarlaServer"));
Server->init(1u);
UE_LOG(LogCarla, Log, TEXT("Resetting the world"));
// Resetting the world.
ReadSceneInit(*Server);
SendSceneValues(*Server, AvailableStartTransforms);
StartIndex = ReadEpisodeStart(*Server);
Player->SetActorTransform(AvailableStartTransforms[StartIndex]);
SetActorTransform(*Player, AvailableStartTransforms, StartIndex);
Player->ResetPlayerState();
Server->sendEndReset();
bIsResetting = false;
} else if (TryReadEpisodeStart(*Server, StartIndex)) {
// Handle request for resetting the world.
UE_LOG(LogCarla, Log, TEXT("Handle request for resetting the world"));
Player->SetActorTransform(AvailableStartTransforms[StartIndex]);
SetActorTransform(*Player, AvailableStartTransforms, StartIndex);
Player->ResetPlayerState();
Server->sendEndReset();
} else {
// Regular tick.

31
Source/Carla/Game/CarlaPlayerState.cpp
View File

@ -3,7 +3,34 @@
#include "Carla.h"
#include "CarlaPlayerState.h"
void RegisterCollision(AActor *Actor, FVector NormalImpulse)
void ACarlaPlayerState::Reset()
{
Super::Reset();
CollisionIntensityCars = 0.0f;
CollisionIntensityPedestrians = 0.0f;
CollisionIntensityOther = 0.0f;
}
void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
{
Super::CopyProperties(PlayerState);
if ((PlayerState != nullptr) && (this != PlayerState))
{
ACarlaPlayerState *Other = Cast<ACarlaPlayerState>(PlayerState);
if (Other != nullptr)
{
Location = Other->Location;
Orientation = Other->Orientation;
Acceleration = Other->Acceleration;
ForwardSpeed = Other->ForwardSpeed;
CollisionIntensityCars = Other->CollisionIntensityCars;
CollisionIntensityPedestrians = Other->CollisionIntensityPedestrians;
CollisionIntensityOther = Other->CollisionIntensityOther;
}
}
}
void ACarlaPlayerState::RegisterCollision(AActor */*Actor*/, FVector NormalImpulse)
{
CollisionIntensityOther += NormalImpulse.Size();
}

6
Source/Carla/Game/CarlaPlayerState.h
View File

@ -15,9 +15,9 @@ class CARLA_API ACarlaPlayerState : public APlayerState
public:
/// @todo ?
// virtual void Reset();
// virtual void CopyProperties(APlayerState *PlayerState);
virtual void Reset() override;
virtual void CopyProperties(APlayerState *PlayerState) override;
void RegisterCollision(AActor *Actor, FVector NormalImpulse);

10
Source/Carla/Game/CarlaVehicleController.cpp
View File

@ -92,9 +92,11 @@ void ACarlaVehicleController::Tick(float DeltaTime)
if (IsPossessingAVehicle()) {
CarlaPlayerState->Location = GetVehicleLocation();
const FVector PreviousSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
CarlaPlayerState->Orientation = GetVehicleOrientation();
CarlaPlayerState->Acceleration = GetVehicleAcceleration();
CarlaPlayerState->ForwardSpeed = GetVehicleForwardSpeed();
const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
}
}
@ -125,10 +127,10 @@ FVector ACarlaVehicleController::GetVehicleOrientation() const
return GetPawn()->GetTransform().GetRotation().GetForwardVector();
}
FVector ACarlaVehicleController::GetVehicleAcceleration() const
void ACarlaVehicleController::ResetPlayerState()
{
check(GetPawn() != nullptr);
return {0.0f, 0.0f, 0.0f};
check(CarlaPlayerState != nullptr);
CarlaPlayerState->Reset();
}
// =============================================================================

5
Source/Carla/Game/CarlaVehicleController.h
View File

@ -63,14 +63,13 @@ public:
/// Orientation vector of the vehicle, pointing forward.
FVector GetVehicleOrientation() const;
/// Acceleration vector of the vehicle.
FVector GetVehicleAcceleration() const;
const ACarlaPlayerState &GetPlayerState() const
{
return *CarlaPlayerState;
}
void ResetPlayerState();
/// @}
// ===========================================================================
/// @name Vehicle movement

14
Source/CarlaServer/CMakeLists.txt
View File

@ -1,4 +1,4 @@
cmake_minimum_required (VERSION 2.6)
cmake_minimum_required (VERSION 3.0.2)
project (CarlaServer)
if (UNIX)
@ -10,17 +10,23 @@ endif (UNIX)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED 14)
# Boost configuration
# Boost configuration.
set(Boost_USE_STATIC_LIBS ON)
find_package(Boost REQUIRED system date_time regex)
include_directories(${Boost_INCLUDE_DIRS})
# Protobuf.
include(FindProtobuf)
find_package(Protobuf REQUIRED)
include_directories(${PROTOBUF_INCLUDE_DIR})
if (UNIX)
set(Protobuf_LIBRARIES ${Protobuf_LIBRARIES} protobuf)
endif (UNIX)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(Protobuf_LIBRARY -lprotobuf)
include_directories("${PROJECT_SOURCE_DIR}/source")
add_subdirectory(source/carla/server)

21
Source/CarlaServer/README.md
View File

@ -8,9 +8,9 @@ Building
#### Linux
Install boost, protobuf, and ninja.
Install boost, protobuf, cmake and ninja.
$ sudo apt-get install libprotobuf-dev protobuf-compiler libboost-all-dev ninja-build
$ sudo apt-get install libprotobuf-dev protobuf-compiler libboost-all-dev cmake ninja-build
Run make
@ -18,10 +18,23 @@ Run make
#### Windows
Install boost and protobuf.
Install and compile [boost](http://www.boost.org/).
Install and compile [protobuf](https://developers.google.com/protocol-buffers/).
While compiling protobuf, use `-Dprotobuf_MSVC_STATIC_RUNTIME=OFF` when calling
CMake in order to use the static runtime library, otherwise may give errors
while trying to link with CarlaServer.
CMake looks at the following environment variables
* `CMAKE_INCLUDE_PATH` should contain the protobuf include folder.
* `CMAKE_LIBRARY_PATH` should contain "libprotobuf" "libprotobuf-lite" "liteprotoc" .lib files.
* `BOOST_ROOT` root of the boost folder.
To generate the Visual Studio solution
$ make vsproject
The solution gets generated at `./build/CarlaServer.sln`.
The solution gets generated at `./build/CarlaServer.sln`. Change the solution
configuration to match protobuf (release, most probably). Don't forget to build
the project INSTALL, it doesn't build when building the solution.

2
Source/CarlaServer/source/carla/server/CarlaCommunication.h
View File

@ -9,6 +9,8 @@
#include "carla/thread/AsyncReaderJobQueue.h"
#include "carla/thread/AsyncWriterJobQueue.h"
#include "carla_protocol.pb.h"
class EpisodeReady;
namespace carla {

2
Source/CarlaServer/source/carla/server/Protocol.cpp
View File

@ -64,7 +64,7 @@ namespace server {
reward.set_speed(values.forward_speed);
reward.set_timestamp(values.timestamp);
auto images = {values.image_rgb_0, values.image_rgb_1};
auto images = {values.image_rgb_0/*, values.image_rgb_1*/};
for (const std::vector<Color> &image : images) {
std::vector<unsigned char> png_image;
if (getPNGImage(image, values.image_width, values.image_height, png_image)) {

1
Source/CarlaServer/source/carla/server/carla_protocol.proto
View File

@ -1,4 +1,3 @@
syntax = "proto2";
// Client Messages
message EpisodeStart {

24
Source/CarlaServer/source/test/CMakeLists.txt
View File

@ -1,8 +1,26 @@
add_executable(test_async_server async_server.cpp)
target_link_libraries(test_async_server carla_server ${CMAKE_THREAD_LIBS_INIT} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Protobuf_LIBRARY})
target_link_libraries(test_async_server
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})
add_executable(test_sync_server sync_server.cpp)
target_link_libraries(test_sync_server carla_server ${CMAKE_THREAD_LIBS_INIT} ${Boost_SYSTEM_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY} ${Protobuf_LIBRARY})
target_link_libraries(test_sync_server
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})
add_executable(test_client client.cpp)
target_link_libraries(test_client carla_server ${CMAKE_THREAD_LIBS_INIT} ${Boost_SYSTEM_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY} ${Protobuf_LIBRARY})
target_link_libraries(test_client
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})